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Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the obvious influence of spatial constraints on agents' performance. Yet hand-designing improved environment…
Imitation is widely observed in populations of decision-making agents. Using our recent convergence results for asynchronous imitation dynamics on networks, we consider how such networks can be efficiently driven to a desired equilibrium…
We study a graph pathfinding problem Distance-$r$ Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pairwise distance at least $r+1$ at all times. This additional…
Developing safe human-robot interaction systems is a necessary step towards the widespread integration of autonomous agents in society. A key component of such systems is the ability to reason about the many potential futures (e.g.…
We consider the problem of exploring an unknown tree with a team of $k$ initially colocated mobile agents. Each agent has limited energy and cannot, as a result, traverse more than $B$ edges. The goal is to maximize the number of nodes…
We consider a problem of prediction based on opinions elicited from heterogeneous rational agents with private information. Making an accurate prediction with a minimal cost requires a joint design of the incentive mechanism and the…
We present a novel algorithm for game-theoretic trajectory planning, tailored for settings in which agents can only observe one another in specific regions of the state space. Such problems arise naturally in the context of multi-robot…
A desirable goal for autonomous agents is to be able to coordinate on the fly with previously unknown teammates. Known as "ad hoc teamwork", enabling such a capability has been receiving increasing attention in the research community. One…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
Two topics are presented: synchronization games and synchronization costs. In a synchronization game on a deterministic finite automaton, there are two players, Alice and Bob, whose moves alternate. Alice wants to synchronize the given…
Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their initial locations to destinations, visiting a set of intermediate target locations in the middle of the paths, while minimizing the sum…
We propose and analyze a recipient-anonymous stochastic routing model to study a fundamental trade-off between anonymity and routing delay. An agent wants to quickly reach a goal vertex in a network through a sequence of routing actions,…
Reliable automated driving technology is challenged by various sources of uncertainties, in particular, behavioral uncertainties of traffic agents. It is common for traffic agents to have intentions that are unknown to others, leaving an…
The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…
We consider an autonomous navigation problem, whereby a traveler aims at traversing an environment in which an adversary tries to set an ambush. A two players zero sum game is introduced. Players' strategies are computed as random path…
During epidemics, the population is asked to Socially Distance, with pairs of individuals keeping two meters apart. We model this as a new optimization problem by considering a team of agents placed on the nodes of a network. Their common…
Autonomous agents such as self-driving cars or parcel robots need to recognize and avoid possible collisions with obstacles in order to move successfully in their environment. Humans, however, have learned to predict movements intuitively…
In this paper we deal with a practical problem that arises in military mission planning. The problem is to plan a path for one, or more, agents to reach a target without being detected by enemy sensors. Agents are not passive, rather they…
This paper proposes a strategy for a group of deaf and dumb robots, carrying clocks from different countries, to meet at a geographical location which is not fixed in advanced. The robots act independently. They can observe others, compute…
In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…